#ifndef WYZKR688RFSWBACKEND_H
#define WYZKR688RFSWBACKEND_H

#include <QObject>
#include <qtcpserver.h>
#include <qtcpsocket.h>

#include "_Interface/_global_datastruct.h"
#include "_Interface/_interface_backend.h"

#include "Backend/gtrobotcom.h"
#include "Backend/bjutrfswtech.h"

class  wyzkr688rfswbackend : public BackendInterface{
private:
    gtrobotcomfsw* pgtrobotcomfsw = nullptr;
    BasicRFSWTech* pBasicRFSWTech = nullptr;
    ST_DataSaveParam mDataSaveParam;
public:
    wyzkr688rfswbackend();
    ~wyzkr688rfswbackend();

public:
    short toRobotTcpServerAdd();
    short toRobotTcpServerListen();
    bool  getRobotConnectStatus();

    short ReadRobotJointData(double (&data)[6]);
    short ReadRobotJointTorData(double (&data)[6]);

    short ReadSpindleSpeed(double& data);

    short ReadForceControlStep(double& mstep);
    short ReadForceControlForceSetValue(double &data);
    short ReadForceControlForceRealValue(double &Data);

    short RFSWPorcess();
    short ProcessDataSave();

    short toRobotLoopRun();
};
#endif // WYZKR688RFSWBACKEND_H
